CN114035614B - Unmanned aerial vehicle autonomous inspection method and system based on prior information and storage medium - Google Patents
Unmanned aerial vehicle autonomous inspection method and system based on prior information and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of power line inspection, and discloses an unmanned aerial vehicle autonomous inspection method, system and storage medium based on prior information, wherein the unmanned aerial vehicle autonomous inspection method, system and storage medium comprise an unmanned aerial vehicle system, and a route correction module, a communication module, an identification module and an image acquisition module which are respectively connected with the unmanned aerial vehicle system; a set of unmanned aerial vehicle front-end-based autonomous image recognition system is developed, a tower inspection target point is automatically captured according to waypoint information, the shot target point is automatically recognized, waypoint intelligent correction is automatically carried out if the shooting target point is not met with shooting criteria, a reliable high-quality tower photo can be shot, and the artificial intelligence recognition rate of the photo meets the actual application requirements. The method has the advantages of automatically identifying the target point, automatically correcting the waypoint and updating in real time, and collecting high-quality image information of the tower target point.
Description
Technical Field
The invention relates to the technical field of power line inspection, in particular to an unmanned aerial vehicle autonomous inspection method and system based on prior information and a storage medium.
Background
With the rapid development of power technology in recent years, the voltage grade and the transmission distance of power transmission lines in China are greatly improved, and the problem of maintenance and inspection of the power transmission lines is solved, so that the power transmission lines need to be periodically inspected to ensure the normal operation of the power transmission lines. Traditional mode of patrolling and examining generally adopts the manual work to patrol and examine, but the efficiency that the manual work was patrolled and examined is lower, and the cycle is longer, needs a large amount of manpower and materials simultaneously to in some place that the environment is abominable, the manual work is patrolled and examined and is had many drawbacks, not only can't guarantee to patrol and examine the normal development of work, also can't guarantee to patrol and examine staff's personal safety simultaneously.
Along with the breakthrough of unmanned aerial vehicle technology and the popularization of civil unmanned aerial vehicles, the application of unmanned aerial vehicles to power inspection is more and more, and in the prior art, there is an unmanned aerial vehicle full-automatic inspection system and method based on an automatic airport. The system comprises an automatic airport and an unmanned aerial vehicle inspection management and control system. The automatic airport comprises an electric unmanned aerial vehicle and an automatic airport control system; the unmanned aerial vehicle inspection management and control system comprises an image analysis subsystem and an airport monitoring subsystem. The image analysis subsystem has the functions of image classification and image identification, the airport monitoring subsystem has the functions of polling task management and live video broadcast, and the automatic polling command is issued to the airport control system through the airport monitoring subsystem. The unmanned aerial vehicle full automatization system of patrolling and examining that this scheme provided can overcome topography problem through the on-vehicle form that removes the airport, compares current unmanned aerial vehicle system of patrolling and examining, patrols and examines the flexibility, and duration and degree of automation all have higher promotion.
However, the problems that the refined inspection waypoint of the tower is unreliable, the refined tower picture cannot be applied to intelligent identification and the like still exist in the existing technical scheme. Therefore, it is necessary to develop a set of inspection system which can identify the target point of the tower completely and autonomously, automatically generate an inspection waypoint and has good inspection effect.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle autonomous inspection method, an unmanned aerial vehicle autonomous inspection system and a storage medium based on prior information, which are used for solving the technical problems of low inspection efficiency and poor inspection effect of a power line.
In order to achieve the purpose, the invention adopts the following technical scheme: the unmanned aerial vehicle autonomous inspection method based on the prior information comprises the following steps:
step S1, collecting information data of a target point of the power transmission line tower, and generating refined routing inspection waypoints of the power transmission line tower to form a routing inspection waypoint set;
step S2, automatically generating an original patrol route according to the patrol waypoint set and by combining the prior information of the route, and then sending the original patrol route to a route library;
step S3, sending a patrol instruction to an unmanned aerial vehicle system, calling an original patrol route from a route library after the unmanned aerial vehicle system receives the patrol instruction, and automatically patrolling the power transmission line according to a preset patrol strategy; the inspection unmanned aerial vehicle flies according to an original inspection route according to an inspection instruction, image acquisition is carried out on all inspection waypoints in sequence, the inspection unmanned aerial vehicle reaches a preset shooting position when the image acquisition is carried out, then a plurality of blocking factors for the image acquisition are judged, each blocking factor has a corresponding threshold range, if the current blocking factor exceeds the threshold range, the inspection unmanned aerial vehicle is controlled to adjust the position of the unmanned aerial vehicle and the angle of a holder to a first shooting position from the preset shooting position, and if the current blocking factor is lower than the threshold range, the shooting position does not need to be adjusted; acquiring an image at a current shooting position, judging whether the size of a current target reaches a preset size and whether the center of the target is in the center of the image, if the size of the current target reaches the preset size and the center of the target is in the center of the image, directly acquiring the image of the current inspection waypoint, and if the size of the current target does not reach the preset size and the center of the target is not in the center of the image, adjusting the focal length of a camera and the angle of a cloud platform and then acquiring the image of the current inspection waypoint; adjusting the shooting position for multiple times to acquire images, verifying the quality of all acquired images, and after the inspection of the current inspection waypoint is finished, flying the inspection unmanned aerial vehicle to the next inspection waypoint to perform inspection until the inspection of the whole power transmission line is finished;
and step S4, after the inspection is finished, storing all corrected waypoint information, generating a new inspection route, storing the new inspection route into a route library for later use, and finally controlling the inspection unmanned aerial vehicle to return.
The principle and the advantages of the scheme are as follows: during actual application, the prior information of the routing point of the known power transmission line is used for automatically generating the routing inspection route of the power transmission line, the routing inspection unmanned aerial vehicle is used for matching with the image acquisition equipment and the intelligent identification module, the power transmission line is inspected according to the routing inspection route, and the image information of all target points on different towers in the routing inspection route is shot so as to finish accurate judgment of the current states of all the target points, so that the routing inspection task of the power transmission line is finished, and meanwhile, the shooting position and the shooting angle can be automatically adjusted according to the current blocking factors during image acquisition, so that the acquired image quality is higher, and the execution effect of the routing inspection task is better. The method has the advantages that the process of producing the flight line is simple, the known prior information of the flight point is directly utilized, the process of manual measurement can be reduced, and the time and the cost are saved; secondly can be at the in-process automatic identification shaft tower target point of patrolling and examining, the degree of identification to all target points is higher, and the process of patrolling and examining is more smooth, and the effect is better, has practiced thrift the cost of labor to a very big extent. The utility model discloses a power transmission line's quality of patrolling and examining is guaranteed to the unmanned aerial vehicle that patrols and examines to the utilization comes whole power transmission line to patrol and examine, not only can guarantee its efficiency of patrolling and examining, can also make the quality of patrolling and examining at every turn guarantee to carry out the omnidirectional to every target point and patrol and examine, avoid patrolling and examining the task completion degree low, thereby lead to the risk of power transmission line fault, the adjustment is patrolled and examined the tactics to power transmission line, guarantees that each patrols and examines the target point and all is patrolled and examined, thereby improves and patrols and examines efficiency and patrol and examine the quality.
Preferably, as an improvement, the inspection policy includes the following:
step S31, the unmanned aerial vehicle system generates a patrol task according to the original patrol route and issues the patrol task to the patrol unmanned aerial vehicle;
step S32, the inspection unmanned aerial vehicle starts to execute the inspection task after receiving the inspection task, automatically flies to a preset shooting position of an inspection waypoint and aims at a target point according to a preset course;
step S33, the inspection unmanned aerial vehicle checks the position relation between the inspection waypoint and the target point, automatically shoots if the inspection unmanned aerial vehicle meets the shooting requirement, and automatically adjusts the waypoint position if the inspection unmanned aerial vehicle does not meet the shooting requirement so as to enable the inspection unmanned aerial vehicle to meet the shooting requirement;
step S34, the inspection unmanned aerial vehicle automatically identifies the shot tower target point after confirming the target point position, and checks whether the shot tower target point meets the shooting rule, if the shot tower target point meets the shooting rule, the inspection unmanned aerial vehicle carries out image acquisition on the inspection navigation point, otherwise, the inspection unmanned aerial vehicle automatically corrects the inspection navigation point until the shooting rule is met; the inspection unmanned aerial vehicle collects images in real time, automatically identifies a target point through an identification module, marks a target range and a central position in the images, then automatically calculates the pixel deviation and the direction of the target central point and the image central point, if the target central point and the image central point are not coincident, sends an instruction to an inspection unmanned aerial vehicle holder, and adjusts the course angle and the pitch angle of the holder to ensure that the target center and the image center are coincident;
step S35, the preset size of the target in the image is W x H, the recognition module calculates the width and height of the actual pixel size of the target, and sends an instruction to adjust the focal length and the shooting distance of the camera, so that the actual pixel size of the target is consistent with the preset size, the image is collected and then sent to the inspection system, the image definition is automatically calculated by the recognition module, if the image definition meets the definition requirement, the next operation is carried out, otherwise, the focal length and the shooting parameters are adjusted until the image definition meets the requirement; after the image acquisition of the current inspection waypoint is completed, the inspection unmanned aerial vehicle flies to the next inspection waypoint to acquire images until the inspection task of the whole inspection air route is completed.
The unmanned aerial vehicle that will patrol and examine patrols and examines the strategy according to this and patrols and examines whole transmission line, not only guarantees to patrol and examine efficiently, can make moreover all target points to on every shaft tower all carry out image acquisition to the convenience all has clear understanding to the current state of every target point, thereby judges current whole transmission line's safety and stability.
Preferably, as an improvement, the tower target point comprises a tower overall appearance, a tower head, a tower body, a tower plate, a tower footing, a wire end hanging point, an insulation terminal, a cross arm end hanging point, a jumper wire end, a jumper wire cross arm end, a jumper wire insulator, a ground wire, a wire clamp, a shockproof hammer and a channel target point.
The method comprises the steps of collecting all images of a tower target point, collecting current state images of a hanging point, an insulating terminal, a shockproof hammer, a pin, a diversion line and a ground wire, carrying out subsequent analysis on the target points, finally analyzing the running state of the current power transmission line, and carrying out accurate evaluation on the safety of the power transmission line.
Preferably, as an improvement, the shooting rule is that image acquisition is performed on a tower target point according to a preset shooting strategy, so that the acquisition equipment is over against the acquisition object, the occupation ratios of all the acquisition objects in the acquisition picture are kept consistent, and the spatial distance and the direction of the acquisition target point and the routing inspection waypoint are ensured to be within a specified range.
The method has the advantages that the acquisition equipment is enabled to be over against the acquired objects, the most visual image information can be acquired, so that the state of the target point can be conveniently analyzed, the occupation ratios of all the acquired objects in the acquired pictures are kept consistent, the acquired images can be analyzed more quickly in the later period, the analysis method is not needed to be adjusted, and the efficiency of issuing the inspection result is improved.
Preferably, as an improvement, the shooting strategy is that the whole structure of the same tower is shot firstly, and the other target points are subjected to image acquisition from one side to the other side and from top to bottom.
Considering that the flying height of the unmanned aerial vehicle is transmitted, when the unmanned aerial vehicle reaches a tower, the unmanned aerial vehicle is positioned above the tower, and then the shooting strategy is determined as that all target points of the same tower are subjected to image acquisition according to the sequence from top to bottom and from left to right, so that useless flying actions generated by the unmanned aerial vehicle can be reduced, the acquisition speed is accelerated, and the inspection efficiency of the whole route is improved.
Preferably, as an improvement, the prior information is an automatically planned route, and the route includes several waypoint information.
The route which is automatically planned by the system is used as prior information, a basic route can be provided for the inspection of the unmanned aerial vehicle, and therefore the inspection route is generated by combining the inspection waypoints, the generation process of the inspection route is simplified, and meanwhile, the comparison with the prior information can be made, so that the finally generated inspection route is more accurate.
Preferably, as an improvement, the waypoint information includes line information, tower number, tower serial number, tower longitude and latitude, tower height, cradle head azimuth angle, cradle head pitch angle, target point name, phase and size number side.
The line information, the pole tower number, the pole tower serial number, the pole tower longitude and latitude, the pole tower height, the cradle head azimuth angle, the cradle head pitch angle, the target point name, the phase and the size number side are all set into the navigation point information, so that the automatically planned route is more accurate, the generated routing inspection route is closer to the actual condition of the power transmission line, and the efficiency of the unmanned aerial vehicle executing the routing inspection task is improved.
Preferably, as an improvement, when the inspection unmanned aerial vehicle executes the inspection task, if the currently acquired target point information does not correspond to the prior information, the current actual information is fed back to update the waypoint in real time.
The navigation points are updated in real time after the actual result of inspection is compared with the preset comparison information, so that the navigation points can meet the use requirements of the system, the accuracy of the route is ensured, and the reliability and the practicability of the whole inspection system are improved.
The invention also provides an unmanned aerial vehicle autonomous inspection system based on prior information, which comprises an unmanned aerial vehicle system, and a route correction module, a communication module, an identification module and an image acquisition module which are respectively connected with the unmanned aerial vehicle system;
the route correction module is used for generating a patrol route according to the combination of the target point of the power transmission line tower and the prior information of the waypoint, sending the patrol route to a route library through the communication module, adjusting the patrol unmanned aerial vehicle and the cloud deck to correct the patrol route, and storing the corrected new patrol route into the route library;
the communication module is used for providing a communication channel for the unmanned aerial vehicle autonomous fine efficient inspection system;
the identification module is used for automatically identifying the type of the navigation point and the tower target point;
the image acquisition module comprises image acquisition equipment; the image acquisition equipment is used for acquiring images of a tower target point;
the unmanned aerial vehicle system comprises a control unit, a data storage unit and an inspection unmanned aerial vehicle; the control unit is used for controlling the unmanned aerial vehicle to execute and complete the routing inspection task according to the routing inspection instruction; the data storage unit is used for storing an airline library and images acquired by inspection; the inspection unmanned aerial vehicle is used for receiving and completing inspection tasks.
The route inspection correction module can automatically and quickly generate an inspection route according to data provided by the system, and the communication module is responsible for information transmission work among all modules of the system to ensure normal communication; the unmanned aerial vehicle system mainly patrols and examines the specific task of patrolling and examining of unmanned aerial vehicle execution through control, when carrying out the task of patrolling and examining, through the cooperation of identification module and image acquisition module, makes this task of patrolling and examining accomplish smoothly, improves the reliability and the practicality of system.
The invention also provides a storage medium for unmanned aerial vehicle autonomous inspection based on the prior information, wherein the storage medium is stored with computer executable instructions, and the computer executable instructions are used for enabling a computer to execute the unmanned aerial vehicle autonomous inspection method based on the prior information.
Through the storage medium, the unmanned aerial vehicle autonomous inspection method based on the prior information is stored, and then the inspection work with high efficiency and high accuracy is carried out on the power transmission line through the cooperation of the inspection system, so that the running stability of the power transmission line is ensured.
Drawings
Fig. 1 is a system schematic diagram of a first embodiment of the unmanned aerial vehicle autonomous inspection method, system and storage medium based on prior information.
Fig. 2 is a schematic flow chart of a first embodiment of the unmanned aerial vehicle autonomous inspection method, system and storage medium based on prior information.
Detailed Description
The following is further detailed by way of specific embodiments:
the reference numbers in the drawings of the specification include: unmanned aerial vehicle system 1, route correction module 2, communication module 3, identification module 4, image acquisition module 5, the control unit 6, data storage unit 7, patrol and examine unmanned aerial vehicle 8.
The first embodiment is as follows:
this embodiment is substantially as shown in figure 1: the unmanned aerial vehicle autonomous inspection system based on the prior information comprises an unmanned aerial vehicle system 1, and a route correction module 2, a communication module 3, an identification module 4 and an image acquisition module 5 which are respectively connected with the unmanned aerial vehicle system 1;
the route correction module 2 is used for generating a patrol route according to the prior information of the combination of the target point of the power transmission line tower and the waypoint, sending the patrol route to a route library through the communication module 3, adjusting the patrol unmanned aerial vehicle 8 and the cradle head to correct the patrol route, and storing a new revised patrol route into the route library;
the communication module 3 is used for providing a communication channel for the unmanned aerial vehicle autonomous fine efficient inspection system;
the identification module 4 is used for automatically identifying the type of a navigation point and a tower target point;
the image acquisition module 5 comprises an image acquisition device; the image acquisition equipment is used for acquiring images of a tower target point, and during acquisition, a camera of the image acquisition equipment is enabled to be over against an acquisition object and keep a distance range of 1.5-5 meters with the acquisition object;
the unmanned aerial vehicle system 1 comprises a control unit 6, a data storage unit 7 and an inspection unmanned aerial vehicle 8; the control unit 6 is used for controlling the unmanned aerial vehicle to execute and complete the routing inspection task according to the routing inspection instruction; the data storage unit 7 is used for storing an airline library and images acquired by inspection; and the inspection unmanned aerial vehicle 8 is used for receiving and completing inspection tasks.
As shown in fig. 2, the invention also provides an unmanned aerial vehicle autonomous inspection method based on prior information, which comprises the following steps:
step S1, collecting information data of a target point of the power transmission line tower, and generating refined routing inspection waypoints of the power transmission line tower to form a routing inspection waypoint set;
step S2, automatically generating an original patrol route according to the patrol waypoint set and by combining the prior information of the route, and then sending the original patrol route to a route library;
step S3, sending a patrol command to the unmanned aerial vehicle system 1, calling an original patrol route from a route library after the unmanned aerial vehicle system 1 receives the patrol command, and automatically patrolling the power transmission line according to a preset patrol strategy; the inspection unmanned aerial vehicle 8 flies according to an original inspection route according to an inspection instruction, image acquisition is carried out on all inspection waypoints in sequence, the inspection unmanned aerial vehicle 8 reaches a preset shooting position firstly when image acquisition is carried out, then a plurality of blocking factors including shielding objects and light brightness of the image acquisition are judged, the threshold range corresponding to each blocking factor is more than 90% of target identification accuracy, if the target identification accuracy is lower than 90% due to the current blocking factors, the inspection unmanned aerial vehicle 8 is controlled to adjust the position of the unmanned aerial vehicle and the angle of a holder to a first shooting position from the preset shooting position, and if the target identification accuracy of the current blocking factors is higher than 90%, the shooting position does not need to be adjusted; acquiring an image at a current shooting position, judging whether the size of a current target reaches a preset size and whether the center of the target is in the center of the image, if the size of the current target reaches the preset size and the center of the target is in the center of the image, directly acquiring the image of the current inspection waypoint, and if the size of the current target does not reach the preset size and the center of the target is not in the center of the image, adjusting the focal length of a camera and the angle of a cloud platform and then acquiring the image of the current inspection waypoint; adjusting the shooting position for multiple times to acquire images, verifying the quality of all the acquired images, and after the inspection of the current inspection waypoint is finished, flying the inspection unmanned aerial vehicle 8 to the next inspection waypoint to perform inspection until the inspection of the whole power transmission line is finished;
and step S4, after the inspection is finished, storing all corrected waypoint information, generating a new inspection route, storing the new inspection route into a route library for later use, and finally controlling the inspection unmanned aerial vehicle 8 to return.
The invention also provides an unmanned aerial vehicle autonomous inspection storage medium based on the prior information, wherein the storage medium is stored with computer executable instructions, the computer executable instructions are used for enabling a computer to execute the unmanned aerial vehicle autonomous inspection method based on the prior information, and the storage medium comprises a U disk, a mobile hard disk, an optical disk, a mechanical hard disk, a solid state hard disk and a computer memory. The storage medium is selected to be computer memory in this embodiment.
The prior information of the waypoints is combined with the patrol waypoint set, the patrol route is automatically generated, manual labor is liberated, cost is saved, the acquired tower target points can be identified through images in the patrol process, the current waypoints with errors and the patrol route are automatically updated after comparison, the next patrol can be executed according to the corrected route, the adjustment work in the next patrol task execution is reduced, meanwhile, through the set shooting rules and the shooting strategy, the image acquisition equipment acquires high-quality photos meeting the requirement of artificial intelligence identification, and the dual targets of high patrol speed and high photo quality are realized.
The specific implementation process of this embodiment is as follows:
the first step, utilize and patrol and examine unmanned aerial vehicle 8 and gather transmission line shaft tower target point, including the information data that tower looks complete, tower head, body of the tower, tower tablet, column footing, wire end string point, insulated terminal, cross arm end string point, wire jumper terminal, wire jumper cross arm end, wire jumper insulator, ground wire, fastener, stockbridge and passageway target point generate transmission line shaft tower and become to patrol and examine the waypoint and form and patrol and examine the waypoint set.
And secondly, the route correction module 2 automatically generates an original routing inspection route according to the routing inspection waypoint set and combined with the prior information of the route, including the route information, the tower number, the tower serial number, the tower longitude and latitude, the tower height, the cradle head azimuth angle, the cradle head pitch angle, the target point name, the phase and the size number side, and sends the original routing inspection route to a route library through the communication module 3.
And thirdly, the staff sends a patrol instruction to the unmanned aerial vehicle system 1, the unmanned aerial vehicle system 1 calls an original patrol route from the route library after receiving the patrol instruction, generates a patrol task according to the original patrol route, and then sends the patrol task to the patrol unmanned aerial vehicle 8.
Fourthly, the inspection unmanned aerial vehicle 8 starts to execute the inspection task after receiving the inspection task, the control unit 6 of the unmanned aerial vehicle system 1 controls the inspection unmanned aerial vehicle 8 to start from the monitoring center, inspection of each inspection navigation point is automatically started according to the original inspection route, the inspection unmanned aerial vehicle 8 reaches a preset shooting position first, then a plurality of blocking factors including shielding objects and light brightness of image acquisition are judged, the threshold range corresponding to each blocking factor is more than 90% of target identification accuracy, if the target identification accuracy is lower than 90% due to the current blocking factor, the inspection unmanned aerial vehicle 8 is controlled to adjust the position of the unmanned aerial vehicle and the tripod head angle to the first shooting position from the preset shooting position, and if the target identification accuracy of the current blocking factor is higher than 90%, the shooting position does not need to be adjusted; the method comprises the steps of carrying out image acquisition at a current shooting position, then judging whether the size of a current target reaches a preset size and whether a target center is in the image center, if the size of the current target reaches the preset size and the target center is in the image center, directly carrying out image acquisition on a current inspection waypoint, if the size of the current target does not reach the preset size and the target center is not in the image center, carrying out image acquisition on the current inspection waypoint after adjusting the focal length and the holder angle of a camera, identifying the type of the waypoint and a tower target point by an identification module 4 carried on an inspection unmanned aerial vehicle 8, checking the position relation between the inspection waypoint and the target point, automatically shooting if the shooting requirement is met, and automatically adjusting the position of the waypoint if the shooting requirement is not met so as to enable the image to meet the shooting requirement.
Fifthly, the inspection unmanned aerial vehicle 8 automatically identifies the shot tower target point after confirming the target point position, checks whether the shot tower target point meets the shooting rule, and performs image acquisition on the inspection waypoint if the shot tower target point meets the shooting rule, otherwise, automatically corrects the inspection waypoint until the shot tower target point meets the shooting rule; then the camera of the image acquisition module 5 is enabled to face the acquired object, the distance between the camera and the acquired object is kept at 3 meters, the occupation ratio of all the acquired objects in the acquired image is kept to be one fourth of the acquired image, the inspection unmanned aerial vehicle 8 acquires the image in real time, a target point is automatically identified through the identification module 4, the target range and the central position are marked in the image, then the identification module 4 automatically calculates the pixel deviation and the direction of the target central point and the image central point, if the target central point and the image central point are not coincident, an instruction is sent to the cloud deck of the inspection unmanned aerial vehicle 8, the course angle and the pitch angle of the cloud deck are adjusted, the target center and the image center are coincident, then the tower is shot, and the other target points shoot the tower head, the tower body, the tower plate, the tower foundation, the wire end hanging points, the insulation terminals, the cross arm end hanging points, the jumper wire end hanging points, the cable end terminals, the cable end hanging points, the cable end and the cable end, And the jumper cross arm end, the jumper insulator, the ground wire, the wire clamp, the vibration damper and the channel target point are used for image acquisition.
And sixthly, the preset size of the target in the image is 1000 x 1000, the identification module 4 calculates the width and height of the actual pixel size of the target, sends an instruction to adjust the focal length and the shooting distance of the camera, enables the actual pixel size of the target to be consistent with the preset size, sends the acquired image to the inspection system after image acquisition is finished, automatically calculates the image definition through the identification module 4, performs the next operation if the image definition meets the definition requirement, otherwise adjusts the focal length and the shooting parameters until the image definition meets the requirement, and sends the acquired image to the inspection system after image acquisition is finished.
Seventhly, after the current inspection waypoint image is collected, the inspection unmanned aerial vehicle 8 flies to the next inspection waypoint to collect images until the inspection task of the whole inspection route is completed, after the inspection is completed, all corrected waypoint information is stored and a new inspection route is generated, and then the new inspection route is stored in a route library for standby; after the inspection task is completed, the control unit 6 of the unmanned aerial vehicle system 1 controls the inspection unmanned aerial vehicle 8 to return to the monitoring center according to the inspection air route.
In the existing unmanned aerial vehicle inspection technology for the power transmission line, the problem of terrain and topography can be solved through the form of a vehicle-mounted mobile airport, but due to the technology and the cost, the problems that the planning workload of a refined tower waypoint is large, the refined tower inspection waypoint is unreliable, and a refined tower photo cannot be applied to intelligent recognition still exist. In the scheme, the prior information of the electric transmission line waypoints can be utilized, the acquired tower information data is combined, and the accurate routing inspection route is automatically generated through the route automatic generation software, so that the information acquisition and design labor cost of the route is reduced; secondly, the inspection unmanned aerial vehicle 8 is matched with the image acquisition equipment and the intelligent identification module 4, pole tower target points are automatically identified in the inspection process, the identification degree of all the target points is higher, the inspection efficiency is high, the preset shooting position can be reached firstly in the process of image acquisition through the set shooting rule, then the shooting quality at the moment is detected, if too many image noise points are caused by too many blocking factors, the shooting is carried out again around the angle of the shooting target which is automatically adjusted by 15 degrees until high-quality image information meeting the requirements of artificial intelligent identification is acquired, the inspection task is more efficient, meanwhile, the calculation amount of later-stage image processing can be reduced through the consideration of the blocking factors, the automation of waypoint generation, the automation of course generation and the automation of intelligent identification are realized, and finally, the automation degree of the inspection task of the power transmission line is high, High efficiency and high accuracy.
Example two:
this embodiment is basically the same as the first embodiment, except that: when the patrol unmanned aerial vehicle 8 executes the patrol task, if the currently acquired target point information does not correspond to the prior information, the current actual information is fed back to update the waypoint in real time.
Through the real-time acquisition and comparison of information, the update and correction of the waypoints and the routes are carried out, the data of the waypoints and the routes are more accurate, the high efficiency and the high accuracy of the inspection task are guaranteed, the inspection unmanned aerial vehicle 8 is prevented from executing the invalid inspection task, time and economic cost are wasted, meanwhile, the fact that workers cannot carry out objective evaluation on the power transmission line is caused, and the risk that the fault of the power transmission line cannot be found timely is avoided.
The specific implementation process of this embodiment is the same as that of the first embodiment, except that:
fourthly, the inspection unmanned aerial vehicle 8 starts to execute the inspection task after receiving the inspection task, the control unit 6 of the unmanned aerial vehicle system 1 controls the inspection unmanned aerial vehicle 8 to start from the monitoring center, inspection of each inspection navigation point is automatically started according to the original inspection route, the inspection unmanned aerial vehicle 8 reaches a preset shooting position first, then a plurality of blocking factors including shielding objects and light brightness of image acquisition are judged, the threshold range corresponding to each blocking factor is more than 90% of target identification accuracy, if the target identification accuracy is lower than 90% due to the current blocking factor, the inspection unmanned aerial vehicle 8 is controlled to adjust the position of the unmanned aerial vehicle and the tripod head angle to the first shooting position from the preset shooting position, and if the target identification accuracy of the current blocking factor is higher than 90%, the shooting position does not need to be adjusted; the method comprises the steps of carrying out image acquisition at a current shooting position, then judging whether the size of a current target reaches a preset size and whether a target center is in the image center, if the size of the current target reaches the preset size and the target center is in the image center, directly carrying out image acquisition on a current inspection waypoint, if the size of the current target does not reach the preset size and the target center is not in the image center, carrying out image acquisition on the current inspection waypoint after adjusting the focal length and the holder angle of a camera, identifying the type of the waypoint and a tower target point by an identification module 4 carried on an inspection unmanned aerial vehicle 8, checking the position relation between the inspection waypoint and the target point, automatically shooting if the shooting requirement is met, and automatically adjusting the position of the waypoint if the shooting requirement is not met so as to enable the image to meet the shooting requirement. And if the inspection unmanned aerial vehicle 8 finds that the current waypoint information does not correspond to the system waypoint information after acquiring the current waypoint information, feeding the acquired waypoint real-time information back to the unmanned aerial vehicle system 1 so as to update the waypoints and the inspection line.
Through the step of carrying out the comparison and verification when patrolling and examining, can guarantee not to increase the basis of extra cost, realize the real-time update to the waypoint and patrol and examine the airline to guarantee to patrol and examine the high efficiency and the high accuracy of task, and then guarantee the accurate aassessment to transmission line security, thereby avoid omitting the emergence that the accident hidden danger leads to the major accident, cause the unnecessary loss.
Example three:
this embodiment is basically the same as the embodiment except that: when the image acquisition module 5 acquires images, the proportion of all the acquisition objects in the acquisition picture is one third of the acquisition picture.
The proportion of the collected object in the collected picture is adjusted to be one third of the proportion of the collected picture, so that the precision of the image is ensured, the important information of the collected object is highlighted in the image, the analysis and the processing of the collected image by subsequent workers are facilitated, meanwhile, the same proportion is ensured, the collected image can be identified more quickly by image analysis software, and the efficiency is improved.
The specific implementation process of this implementation is the same as that of the first embodiment, except that:
fifthly, the inspection unmanned aerial vehicle 8 automatically identifies the shot tower target point after confirming the target point position, checks whether the shot tower target point meets the shooting rule, and performs image acquisition on the inspection waypoint if the shot tower target point meets the shooting rule, otherwise, automatically corrects the inspection waypoint until the shot tower target point meets the shooting rule; then the camera of the image acquisition module 5 is made to face the acquisition object, the distance between the camera and the acquisition object is kept at 3 meters, the occupation ratio of all the acquisition objects in the acquisition image is kept to be one third of the acquisition image, the inspection unmanned aerial vehicle 8 acquires the image in real time, a target point is automatically identified through the identification module 4, the target range and the central position are marked in the image, then the identification module 4 automatically calculates the pixel deviation and the direction of the target central point and the image central point, if the target central point and the image central point are not coincident, an instruction is sent to the cloud deck of the inspection unmanned aerial vehicle 8, the course angle and the pitch angle of the cloud deck are adjusted, the target center and the image center are coincident, then the full-looking tower is shot, and the rest target points sequentially shoot the tower head, the tower body, the tower plate, the tower footing, the wire end hanging point, the insulation terminal, the cross arm end hanging point, the jumper wire end, the cable end and the cable end, And the jumper cross arm end, the jumper insulator, the ground wire, the wire clamp, the vibration damper and the channel target point are used for image acquisition.
Example four:
this embodiment is basically the same as the first embodiment, except that: and after the patrol unmanned aerial vehicle 8 finishes the patrol task, directly returning to the monitoring center from the terminal position of the current patrol route according to a straight line path of a connecting line between the terminal position and the monitoring center.
After the inspection is finished, the inspection unmanned aerial vehicle 8 directly returns to the monitoring center according to the straight path of the connecting line between the terminal position and the monitoring center, and because the line segment between the two points is shortest, the return path of the inspection unmanned aerial vehicle 8 is shortest, so that the time and the energy are saved, and the economic benefit is increased.
The specific implementation process of this embodiment is the same as that of the first embodiment, except that:
seventhly, after the current inspection waypoint image is collected, the inspection unmanned aerial vehicle 8 flies to the next inspection waypoint to collect images until the inspection task of the whole inspection route is completed, after the inspection is completed, all corrected waypoint information is stored and a new inspection route is generated, and then the new inspection route is stored in a route library for standby; after the inspection task is completed, the control unit 6 of the unmanned aerial vehicle system 1 controls the inspection unmanned aerial vehicle 8 to directly return to the monitoring center from the terminal position of the current inspection air route according to the straight line path of the connection line between the terminal position and the monitoring center.
The foregoing is merely an example of the present invention and common general knowledge in the art of designing and/or characterizing particular aspects and/or features is not described in any greater detail herein. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several variations and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (6)
1. The unmanned aerial vehicle autonomous inspection method based on the prior information is characterized by comprising the following steps:
step S1, collecting information data of a target point of the power transmission line tower, and generating refined routing inspection waypoints of the power transmission line tower to form a routing inspection waypoint set;
step S2, according to the patrol waypoint set and the prior information of the route, namely combining the automatically planned route with a plurality of waypoint information, automatically generating an original patrol route, and then sending the original patrol route to a route library;
step S3, sending an inspection command to the unmanned aerial vehicle system, calling an original inspection route from the route library after the unmanned aerial vehicle system receives the inspection command, the method comprises the steps that a power transmission line is automatically patrolled according to a preset patrolling strategy, an unmanned aerial vehicle system generates a patrolling task according to an original patrolling route and sends the patrolling task to a patrolling unmanned aerial vehicle, the patrolling unmanned aerial vehicle starts to execute the patrolling task after receiving the patrolling task, the patrolling unmanned aerial vehicle flies according to a patrolling instruction according to an original patrolling route, image acquisition is sequentially carried out on all patrolling waypoints, the patrolling unmanned aerial vehicle automatically flies to a preset shooting position of the patrolling waypoint and aims at a target point according to a preset course during image acquisition, the patrolling unmanned aerial vehicle checks the position relation between the patrolling waypoint and the target point, if the shooting requirement is met, automatic shooting is carried out, and if the shooting requirement is not met, the position of the waypoint is automatically adjusted to enable the patrolling unmanned aerial vehicle to meet the shooting requirement; the inspection unmanned aerial vehicle automatically identifies the shot tower target points after confirming the target point positions, checks whether the shot tower target points meet shooting rules or not, shoots the integral structure of the same tower at first, collects images of the tower target points from one side to the other side and from top to bottom, enables the collection equipment to be over against the collected objects and keeps the occupation ratio of all the collected objects in the collected images one third of the collected images, judges whether the size of the target in the shot images reaches a preset size and the target center is in the image center or not through the identification module, meanwhile guarantees that the spatial distance and the direction between the collected target point and the inspection waypoint are in a specified range, collects the images of the inspection waypoint if the size of the target in the shot images meets the preset size, and automatically corrects the inspection waypoint if the size of the target in the shot images meets the shooting rules until the shooting rules are met; the inspection unmanned aerial vehicle collects images in real time, automatically identifies a target point through an identification module, marks a target range and a central position in the images, then automatically calculates the pixel deviation and the direction of the target central point and the image central point, if the target central point and the image central point are not coincident, sends an instruction to an inspection unmanned aerial vehicle holder, and adjusts the course angle and the pitch angle of the holder to ensure that the target center and the image center are coincident; the preset size of a target in an image is W x H, the identification module calculates the width and height of the actual pixel size of the target, sends an instruction to adjust the focal length and the shooting distance of a camera, enables the actual pixel size of the target to be consistent with the preset size, automatically calculates the image definition through the identification module, performs the next operation if the image definition meets the definition requirement, and otherwise adjusts the focal length and the shooting parameters until the image definition meets the requirement; then judging a plurality of blocking factors of image acquisition, including shelters and light brightness, wherein the threshold range corresponding to each blocking factor is more than 90% of target identification accuracy, if the target identification accuracy is lower than 90% due to the current blocking factor, controlling the inspection unmanned aerial vehicle to adjust the position of the unmanned aerial vehicle and the angle of the holder to a first shooting position from a preset shooting position, and if the target identification accuracy of the current blocking factor is higher than 90%, not adjusting the shooting position; acquiring an image at a current shooting position, judging whether the size of a current target reaches a preset size and whether the center of the target is in the center of the image, if the size of the current target reaches the preset size and the center of the target is in the center of the image, directly acquiring the image of the current inspection waypoint, and if the size of the current target does not reach the preset size and the center of the target is not in the center of the image, adjusting the focal length of a camera and the angle of a cloud platform and then acquiring the image of the current inspection waypoint; adjusting the shooting position for multiple times to acquire images, verifying the quality of all acquired images, sending the acquired images to an inspection system after the image acquisition is finished, and after the inspection of the current inspection waypoint is finished, flying the inspection unmanned aerial vehicle to the next inspection waypoint to inspect until the inspection of the whole power transmission line is finished;
step S4, in the inspection process, if the inspection unmanned aerial vehicle finds that the current waypoint information is not corresponding to the system waypoint information after acquiring the current waypoint information, feeding the acquired waypoint real-time information back to the unmanned aerial vehicle system to update waypoints and the inspection route; after the inspection is finished, all corrected waypoint information is stored, a new inspection air route is generated, then the new inspection air route is stored in an air route library for standby, and finally the inspection unmanned aerial vehicle is controlled to return.
2. The unmanned aerial vehicle autonomous inspection method based on prior information according to claim 1, wherein the tower target points include a tower landscape, a tower head, a tower body, a tower plate, a tower footing, a wire end hanging point, an insulation terminal, a cross arm end hanging point, a jumper wire end, a jumper wire cross arm end, a jumper wire insulator, a ground wire, a wire clamp, a stockbridge damper and a channel target point.
3. The unmanned aerial vehicle autonomous inspection method according to claim 1, wherein the waypoint information includes line information, tower number, tower serial number, tower longitude and latitude, tower height, pan-tilt azimuth, pan-tilt pitch angle, target point name, phase and size number side.
4. The unmanned aerial vehicle autonomous inspection method according to claim 1, wherein when the inspection unmanned aerial vehicle executes an inspection task, if the currently acquired target point information does not correspond to the prior information, the current actual information is fed back to update the waypoint in real time.
5. The unmanned aerial vehicle autonomous inspection system based on the prior information is characterized in that the unmanned aerial vehicle autonomous inspection method based on the prior information according to any one of claims 1 to 4 is applied, and comprises an unmanned aerial vehicle system, and a route correction module, a communication module, an identification module and an image acquisition module which are respectively connected with the unmanned aerial vehicle system;
the route correction module is used for generating an original inspection route by combining with prior information of waypoints according to a target point of a power transmission line tower, namely combining with an automatically planned route with a plurality of waypoint information, sending the original inspection route to a route library through the communication module, adjusting the inspection unmanned aerial vehicle and the cloud deck to correct the inspection route when the current waypoint information acquired by the inspection unmanned aerial vehicle does not correspond to the system waypoint information, feeding back the acquired waypoint real-time information to update the waypoints and the inspection route, and storing the corrected new inspection route into the route library;
the communication module is used for providing a communication channel for the unmanned aerial vehicle autonomous fine efficient inspection system;
the identification module is used for automatically identifying the type of a navigation point and a tower target point;
the image acquisition module comprises image acquisition equipment; the image acquisition equipment is used for acquiring images of a tower target point;
the unmanned aerial vehicle system comprises a control unit, a data storage unit and an inspection unmanned aerial vehicle; the control unit is used for controlling the unmanned aerial vehicle to execute and complete the routing inspection task according to the routing inspection instruction; the data storage unit is used for storing an airline library and images acquired by inspection; the inspection unmanned aerial vehicle is used for receiving and completing inspection tasks.
6. An autonomous inspection storage medium for unmanned aerial vehicles based on a priori information, the storage medium having stored therein computer-executable instructions for causing a computer to perform the autonomous inspection method for unmanned aerial vehicles based on a priori information according to any one of claims 1 to 4.
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